<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: tracking/include/pcl/tracking/kld_adaptive_particle_filter.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('kld__adaptive__particle__filter_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">kld_adaptive_particle_filter.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_KLD_ADAPTIVE_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/tracking.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/particle_filter.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/coherence.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;{</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  {</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> StateT&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">   20</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">KLDAdaptiveParticleFilterTracker</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a>&lt;PointInT, StateT&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::tracker_name_</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::search_</a>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::input_</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::transed_reference_vector_</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::coherence_</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::initParticles</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::weight</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::update</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::iteration_num_</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::particle_num_</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::particles_</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::use_normal_</a>;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::use_change_detector_</a>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_detector_resolution_</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_detector_</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::motion_</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::motion_ratio_</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::step_noise_covariance_</a>;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::representative_state_</a>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::sampleWithReplacement</a>;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">BaseClass</a>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudState</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudState</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::Ptr PointCloudStatePtr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::ConstPtr PointCloudStateConstPtr;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; Coherence &gt; CoherencePtr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const Coherence &gt; CoherenceConstPtr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; CloudCoherence &gt; CloudCoherencePtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const CloudCoherence &gt; CloudCoherenceConstPtr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a85178ecadf284656194b761804560b77">   64</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a85178ecadf284656194b761804560b77">KLDAdaptiveParticleFilterTracker</a> ()</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      : <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a>&lt;PointInT, StateT&gt; ()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">maximum_particle_number_</a> ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a> (0)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a> (0.99)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">bin_size_</a> ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a> = <span class="stringliteral">&quot;KLDAdaptiveParticleFilterTracker&quot;</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#af11cd916f08db4df75fa8e33fb15f04b">   77</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#af11cd916f08db4df75fa8e33fb15f04b">setBinSize</a> (<span class="keyword">const</span> StateT&amp; bin_size) { <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">bin_size_</a> = bin_size; }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a854d5505b9bb8dc6b490c978a6435cf2">   80</a></span>&#160;      <span class="keyword">inline</span> StateT <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a854d5505b9bb8dc6b490c978a6435cf2">getBinSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">bin_size_</a>); }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#ad9c81858105ed751eb142bdb46734196">   85</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#ad9c81858105ed751eb142bdb46734196">setMaximumParticleNum</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr) { <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">maximum_particle_number_</a> = nr; }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a22e5166dc294c0d5926e95ff5786bb60">   88</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a22e5166dc294c0d5926e95ff5786bb60">getMaximumParticleNum</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">maximum_particle_number_</a>); }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a224d78046d367d453a20379bd4f24658">   93</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a224d78046d367d453a20379bd4f24658">setEpsilon</a> (<span class="keywordtype">double</span> eps) { <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a> = eps; }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a2b45bb0bf0c608cbcf648961e26d923c">   96</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a2b45bb0bf0c608cbcf648961e26d923c">getEpsilon</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a>); }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a0ea689d31bed91214ff7906a2df5c986">  101</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a0ea689d31bed91214ff7906a2df5c986">setDelta</a> (<span class="keywordtype">double</span> delta) { <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a> = delta; }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f7fa6c90ffb01c7ef2377d0c88dcc01">  104</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f7fa6c90ffb01c7ef2377d0c88dcc01">getDelta</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a>); }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f4f3213600cff28c35856d891771fd5">  113</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f4f3213600cff28c35856d891771fd5">equalBin</a> (std::vector&lt;int&gt; a, std::vector&lt;int&gt; b)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">int</span> dimension = StateT::stateDimension ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; dimension; i++)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="keywordflow">if</span> (a[i] != b[i])</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">  126</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">normalQuantile</a> (<span class="keywordtype">double</span> u)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> a[9] = {  1.24818987e-4, -1.075204047e-3, 5.198775019e-3,</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                               -0.019198292004, 0.059054035642,-0.151968751364,</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                               0.319152932694,-0.5319230073,   0.797884560593};</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> b[15] = { -4.5255659e-5,   1.5252929e-4,  -1.9538132e-5,</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                               -6.76904986e-4,  1.390604284e-3,-7.9462082e-4,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                               -2.034254874e-3, 6.549791214e-3,-0.010557625006,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                               0.011630447319,-9.279453341e-3, 5.353579108e-3,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                               -2.141268741e-3, 5.35310549e-4,  0.999936657524};</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">double</span> w, y, z;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordtype">int</span> i;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordflow">if</span> (u == 0.)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <span class="keywordflow">return</span> (0.5);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        y = u / 2.0;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordflow">if</span> (y &lt; -6.)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keywordflow">return</span> (0.0);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">if</span> (y &gt; 6.)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          <span class="keywordflow">return</span> (1.0);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">if</span> (y &lt; 0.0)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          y = - y;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">if</span> (y &lt; 1.0)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          w = y * y;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          z = a[0];</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">for</span> (i = 1; i &lt; 9; i++)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            z = z * w + a[i];</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          z *= (y * 2.0);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          y -= 2.0;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          z = b[0];</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordflow">for</span> (i = 1; i &lt; 15; i++)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            z = z * y + b[i];</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">if</span> (u &lt; 0.0)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordflow">return</span> ((1. - z) / 2.0);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">return</span> ((1. + z) / 2.0);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">virtual</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1046cfeefd3cf16647bee72262e3d122">  173</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1046cfeefd3cf16647bee72262e3d122">calcKLBound</a> (<span class="keywordtype">int</span> k)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordtype">double</span> z = <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">normalQuantile</a> (<a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a>);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">double</span> chi = 1.0 - 2.0 / (9.0 * (k - 1)) + sqrt (2.0 / (9.0 * (k - 1))) * z;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">return</span> ((k - 1.0) / (2.0 * <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a>) * chi * chi * chi);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a5d5d35183fa849a477acac3548063c11">insertIntoBins</a> (std::vector&lt;int&gt; bin, std::vector&lt;std::vector&lt;int&gt; &gt; &amp;B);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1045bdf2250e462e1037963d7cdfb673">initCompute</a> ();</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#aeb08f9937ea89ad286c47ec39038a9f3">resample</a> ();</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">  200</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">maximum_particle_number_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">  203</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">  206</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">  209</a></span>&#160;      StateT <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">bin_size_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    };</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/impl/kld_adaptive_particle_filter.hpp&gt;</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterTracker</a></div><div class="ttdoc">KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the...</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:21</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a0ea689d31bed91214ff7906a2df5c986"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a0ea689d31bed91214ff7906a2df5c986">pcl::tracking::KLDAdaptiveParticleFilterTracker::setDelta</a></div><div class="ttdeci">void setDelta(double delta)</div><div class="ttdoc">set delta to be used in chi-squared distribution.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a1045bdf2250e462e1037963d7cdfb673"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1045bdf2250e462e1037963d7cdfb673">pcl::tracking::KLDAdaptiveParticleFilterTracker::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.hpp:7</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a1046cfeefd3cf16647bee72262e3d122"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1046cfeefd3cf16647bee72262e3d122">pcl::tracking::KLDAdaptiveParticleFilterTracker::calcKLBound</a></div><div class="ttdeci">virtual double calcKLBound(int k)</div><div class="ttdoc">calculate K-L boundary. K-L boundary follows 1/2e*chi(k-1, 1-d)^2.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a1f4f3213600cff28c35856d891771fd5"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f4f3213600cff28c35856d891771fd5">pcl::tracking::KLDAdaptiveParticleFilterTracker::equalBin</a></div><div class="ttdeci">virtual bool equalBin(std::vector&lt; int &gt; a, std::vector&lt; int &gt; b)</div><div class="ttdoc">return true if the two bins are equal.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a1f7fa6c90ffb01c7ef2377d0c88dcc01"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f7fa6c90ffb01c7ef2377d0c88dcc01">pcl::tracking::KLDAdaptiveParticleFilterTracker::getDelta</a></div><div class="ttdeci">double getDelta() const</div><div class="ttdoc">get delta to be used in chi-squared distribution.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a224d78046d367d453a20379bd4f24658"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a224d78046d367d453a20379bd4f24658">pcl::tracking::KLDAdaptiveParticleFilterTracker::setEpsilon</a></div><div class="ttdeci">void setEpsilon(double eps)</div><div class="ttdoc">set epsilon to be used to calc K-L boundary.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a22e5166dc294c0d5926e95ff5786bb60"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a22e5166dc294c0d5926e95ff5786bb60">pcl::tracking::KLDAdaptiveParticleFilterTracker::getMaximumParticleNum</a></div><div class="ttdeci">unsigned int getMaximumParticleNum() const</div><div class="ttdoc">get the maximum number of the particles.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a2b45bb0bf0c608cbcf648961e26d923c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a2b45bb0bf0c608cbcf648961e26d923c">pcl::tracking::KLDAdaptiveParticleFilterTracker::getEpsilon</a></div><div class="ttdeci">double getEpsilon() const</div><div class="ttdoc">get epsilon to be used to calc K-L boundary.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a488b98106ab57557855c222bda0b2734"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">pcl::tracking::KLDAdaptiveParticleFilterTracker::maximum_particle_number_</a></div><div class="ttdeci">unsigned int maximum_particle_number_</div><div class="ttdoc">the maximum number of the particles.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a5d5d35183fa849a477acac3548063c11"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a5d5d35183fa849a477acac3548063c11">pcl::tracking::KLDAdaptiveParticleFilterTracker::insertIntoBins</a></div><div class="ttdeci">virtual bool insertIntoBins(std::vector&lt; int &gt; bin, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;B)</div><div class="ttdoc">insert a bin into the set of the bins. if that bin is already registered, return false....</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.hpp:37</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a7904521e35b54c3184214cf6b4e0c6eb"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">pcl::tracking::KLDAdaptiveParticleFilterTracker::normalQuantile</a></div><div class="ttdeci">double normalQuantile(double u)</div><div class="ttdoc">return upper quantile of standard normal distribution.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a7db021281e95c220aef1dac0c1a9ff46"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">pcl::tracking::KLDAdaptiveParticleFilterTracker::delta_</a></div><div class="ttdeci">double delta_</div><div class="ttdoc">probability of distance between K-L distance and MLE is less than epsilon_</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a85178ecadf284656194b761804560b77"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a85178ecadf284656194b761804560b77">pcl::tracking::KLDAdaptiveParticleFilterTracker::KLDAdaptiveParticleFilterTracker</a></div><div class="ttdeci">KLDAdaptiveParticleFilterTracker()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_a854d5505b9bb8dc6b490c978a6435cf2"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a854d5505b9bb8dc6b490c978a6435cf2">pcl::tracking::KLDAdaptiveParticleFilterTracker::getBinSize</a></div><div class="ttdeci">StateT getBinSize() const</div><div class="ttdoc">get the bin size.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_abf6bf90870b0404ad0db0f791764e624"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">pcl::tracking::KLDAdaptiveParticleFilterTracker::bin_size_</a></div><div class="ttdeci">StateT bin_size_</div><div class="ttdoc">the size of a bin.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_ad9c81858105ed751eb142bdb46734196"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#ad9c81858105ed751eb142bdb46734196">pcl::tracking::KLDAdaptiveParticleFilterTracker::setMaximumParticleNum</a></div><div class="ttdeci">void setMaximumParticleNum(unsigned int nr)</div><div class="ttdoc">set the maximum number of the particles.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_aeb08f9937ea89ad286c47ec39038a9f3"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#aeb08f9937ea89ad286c47ec39038a9f3">pcl::tracking::KLDAdaptiveParticleFilterTracker::resample</a></div><div class="ttdeci">virtual void resample()</div><div class="ttdoc">resampling phase of particle filter method. sampling the particles according to the weights calculate...</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_af11cd916f08db4df75fa8e33fb15f04b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#af11cd916f08db4df75fa8e33fb15f04b">pcl::tracking::KLDAdaptiveParticleFilterTracker::setBinSize</a></div><div class="ttdeci">void setBinSize(const StateT &amp;bin_size)</div><div class="ttdoc">set the bin size.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker_html_afff02a9c87c691a6494896626ded672b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">pcl::tracking::KLDAdaptiveParticleFilterTracker::epsilon_</a></div><div class="ttdeci">double epsilon_</div><div class="ttdoc">error between K-L distance and MLE</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a></div><div class="ttdoc">ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">pcl::tracking::PointCloudCoherence</a></div><div class="ttdoc">PointCloudCoherence is a base class to compute coherence between the two PointClouds.</div><div class="ttdef"><b>Definition:</b> coherence.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_coherence.html">pcl::tracking::PointCoherence</a></div><div class="ttdoc">PointCoherence is a base class to compute coherence between the two points.</div><div class="ttdef"><b>Definition:</b> coherence.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker</a></div><div class="ttdoc">Tracker represents the base tracker class.</div><div class="ttdef"><b>Definition:</b> tracker.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_aaa1a7a91f381d951cc85c0c7f440f0ce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">pcl::tracking::Tracker::tracker_name_</a></div><div class="ttdeci">std::string tracker_name_</div><div class="ttdoc">The tracker name.</div><div class="ttdef"><b>Definition:</b> tracker.h:92</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_d9641d1b3344d27351f9c254ecf2cb63.html">tracking</a></li><li class="navelem"><a class="el" href="dir_537cdc557870c4d7ed06251b7b450fcf.html">include</a></li><li class="navelem"><a class="el" href="dir_412001c6e97465d8802a55f0cc644ff4.html">pcl</a></li><li class="navelem"><a class="el" href="dir_eb9f6b2e979b6d7257ad348be703f97e.html">tracking</a></li><li class="navelem"><b>kld_adaptive_particle_filter.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
